@article{hamed2019nonholonomic,
  title={Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking},
  author={Hamed, Kaveh Akbari and Ames, Aaron D},
  journal={IEEE Transactions on Control Systems Technology},
  year={2019},
  publisher={IEEE},
  url = {http://ames.caltech.edu/hamed2019nonholonomic.pdf}
}

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